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首页> 外文期刊>International Journal of Innovative Computing Information and Control >MOTION PLANNING OF SWARM ROBOTS USING POTENTIAL-BASED GENETIC ALGORITHM
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MOTION PLANNING OF SWARM ROBOTS USING POTENTIAL-BASED GENETIC ALGORITHM

机译：基于势能遗传算法的群体机器人运动规划

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摘要

A potential-based genetic algorithm is proposed for the motion planning of robot swarms. The proposed algorithm consists of a global path planner and a motion planner. The global path planning algorithm plans a trajectory, which the robot swarm should follow, within a Voronoi diagram of the free space. The motion planning algorithm is a genetic algorithm based on artificial potential models. The potential functions are used to keep robots away from obstacles and to keep the robot swarm within a certain distance from each other. Since the proposed approach is a hierarchical algorithm which plans the global path and local motion individually, the robot swarm moves toward the goal by sequentially traversing a sequence of positions along the Voronoi diagram. Therefore, the robot swarm can avoid becoming trapped in local minima.
机译：提出了一种基于势能的遗传算法用于机器人群的运动规划。该算法由全局路径规划器和运动规划器组成。全局路径规划算法在自由空间的Voronoi图内规划机器人群应遵循的轨迹。运动计划算法是基于人工势能模型的遗传算法。潜在功能用于使机器人远离障碍物，并使机器人群彼此之间保持一定距离。由于所提出的方法是一种分层算法，可单独规划全局路径和局部运动，因此机器人群体通过沿Voronoi图顺序遍历一系列位置向目标移动。因此，机器人群可以避免陷入局部最小值。

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  • 作者

    Chien-Chou Lin; Kun-Cheng Chen; Po-Yuan Hsiao; Wei-Ju Chuang;

  • 作者单位

    Department of Computer Science and Information Engineering National Yunlin University of Science and Technology No. 123, Section 3, University Road, Douliou, Yunlin 64002, Taiwan;

    Department of Computer Science and Information Engineering National Yunlin University of Science and Technology No. 123, Section 3, University Road, Douliou, Yunlin 64002, Taiwan;

    Department of Computer Science and Information Engineering Shu-Te University No. 59, Hengshan Road, Yanchao District, Kaohsiung City 82445, Taiwan;

    Department of Computer Science and Information Engineering National Yunlin University of Science and Technology No. 123, Section 3, University Road, Douliou, Yunlin 64002, Taiwan;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    swarm robotics; formation control; voronoi diagram; artificial potential field; genetic algorithm;

    机译：群机器人;编队控制;voronoi图;人工势场遗传算法;

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